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Research on Indoor Location of Mobile Robot Based on ROS

Xiao Sa;Song Tianzhong;University of Shanghai for Science and Technology;  
Localization of mobile robot has always been a basic but very important technology in robot research. Accurate location in mobile operation is the decisive factor for popularization and application of mobile robot. Based on the ROS platform, laser radar is used to create two-dimensional grid model representing the environment map, and map matching positioning based on Adaptive Monte Carlo improved algorithm is carried out. Through simulation experiment and performance testing analysis, a good mapping and navigation effect is achieved.
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